Dynamic control model of a cobot with three omni-wheels

作者：Bi Z M^*; Wang Lihui

来源：Robotics and Computer-Integrated Manufacturing, 2010, 26(6): 558-563.

DOI：10.1016/j.rcim.2010.06.022

• Collaborative robot
• Mobile robot
• Omni-wheels
• Kinematics
• Dynamic control
• Path planning

In this paper, a new collaborative robot with omni-wheels has been proposed and its dynamic control has been developed and validated. Collaborative robots (Cobots) have been introduced to guide and assist human operators to move heavy objects in a given trajectory. Most of the existing cobots use steering wheels: typical drawbacks of using steering wheels include the difficulties to (i) follow a trajectory with a curvature larger than that of the base platform, (ii) mount encoders on steering wheels due to self-spinning of the wheels, and (iii) quarantine dynamic control performance since it is purely kinematic control. The new collaborative robot is proposed to overcome the above-mentioned shortcomings. The methodologies for its dynamic control are focused and the simulation has been conducted to validate the control performance of the system.

• 出版日期2010-12